ROS Network through firewall

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Hi there,

I have to say I'm a newbie working with networks. I have the following problem:

• I have a remote machine where my roscore and some other nodes are running.

• I need to run the nodes in my laptop with that machine as ROS master but there is a firewall between them.

• I can connect to a server (in the same network as the remote machine) and from that server to the remote machine. So I can skip the firewall...

So, how can I stablish the connection between the two machines?

Somebody told me that I can use ssh -L to make a tunnel for a specific port, but not for all... And this ROS tutorial http://www.ros.org/wiki/ROS/NetworkSetup is talking about OpenVPN that I don't have idea how to use it...

Thanks in advance,

Josep